David Harewood: 'I feel very lucky to have a family. It gives you a perspective on things.' Photograph: Richard Saker

I grew up in Birmingham, but my parents are originally from Barbados. My dad, Romeo, was a long-distance lorry driver, and my mother, Mayleen, worked in catering. They are retired now. I remember how, when I was a child, Dad would come in after a long day driving, sit in front of the television and fall asleep. Then he would wake up and swear he had been watching the television all along.

My parents are very proud of my success but still worry as I'm in a profession where there is no guarantee of work. They have always supported my decision to go into acting, but there have been tough times work-wise. During the lean years, they questioned if I was doing the right thing and if I could handle it all.

I am the youngest of four children – three boys and one girl. I don't think becoming an actor had anything to do with seeking attention, though. My relationship with my siblings when I was growing up was close and playful. We were all pretty protective of each other but also had our own group of friends. It's still a surprise to them that I ended up in this business.

I have two daughters – Maize, 10, and Raven, eight. Fatherhood is a joy. I feel very lucky to have a family. It gives you a perspective on things.

I try to be as hands-on with the kids as I can when I'm at home. But I'm sure the major challenge of having two girls will come in the next 10 years. I'm not looking forward to it, I must admit. Having been a lad myself, I know how lads think. I need to make sure my daughters understand who they are and what they have. As a father, you have to be as present as you can.

Working away from my family is hard, but we all understand it is necessary. We all know there have to be sacrifices. The family get to come out and see me. They enjoy being in America and the Los Angeles climate, and see a very different side of life. My kids see many countries, so I look at it as a blessing rather than a curse.

I try to ensure my daughters are not spoilt. They are very aware of how lucky they are and appreciate it. We have had some lean years, so they know it's not all about luxury, travel and hotels. They are grounded and I'm grateful for that.

I married my wife Kirsty in February this year although we have been together for many years. Her best quality is that she keeps me very grounded. We still live in Streatham, south London. I am very happy there and have no immediate plans to move. There is a common misconception that I am swimming in money now, and that's certainly not the case.

I have always been reasonably anonymous but I suppose that has gone with the success of Homeland. I feel a lot more visible, which is good and bad. Good because I am getting recognition, but I am slightly apprehensive because I always enjoyed my anonymity. I was papped with my family on holiday this year for the first time, which was really surprising. The idea that people are watching me now is a bit unnerving, but I suppose it comes with the territory. It is, perhaps, the modern side of celebrity. Let's just say I like acting, but not necessarily all the stuff that comes with it.